Table 27: TD3+BC, IQL and ReBRAC Expected Online Performance under uniform policy selection on Walker2d tasks.
random	medium	expert	medium-expert	medium-reflex	full-reflex
Policies	T33+BC	IQL	ReBRAC	T33+BC	IQL	ReBRAC	T33+BC	IQL	ReBRAC	T33+BC	IQL	ReBRAC	T33+BC	IQL	ReBRAC	T33+BC	IQL	ReBRAC
1	3.2 ± 1.0	6.3 ± 2.9	7.9 ± 6.5	41.3 ± 28.6	65.3 ± 17.8	54.1 ± 34.5	67.0 ± 52.4	110.3 ± 4.0	84.2 ± 45.7	103.8 ± 12.2	83.2 ± 46.9	36.4 ± 25.2	51.9 ± 28.3	54.5 ± 26.0	78.9 ± 15.4	71.8 ± 28.7	86.1 ± 21.5
2	3.7 ± 0.8	7.8 ± 2.8	11.4 ± 6.6	57.0 ± 23.4	75.0 ± 13.0	72.5 ± 23.4	92.9 ± 39.0	112.1 ± 1.8	104.3 ± 25.4	94.8 ± 22.2	109.6 ± 6.4	103.8 ± 26.2	50.0 ± 19.0	67.5 ± 21.0	68.8 ± 18.7	87.1 ± 10.5	87.2 ± 10.2
3	4.0 ± 0.8	8.8 ± 2.8	13.4 ± 6.4	79.1 ± 24.7	79.1 ± 23.6	79.1 ± 23.6	112.2 ± 1.8	109.1 ± 3.8	109.1 ± 10.8	110.9 ± 12.7	115.1 ± 10.2	109.2 ± 10.8	56.1 ± 7.4	74.8 ± 48.7	80.1 ± 10.1	90.1 ± 10.2	92.6 ± 10.8
4	4.2 ± 0.6	9.4 ± 2.3	15.1 ± 5.9	68.9 ± 13.4	80.7 ± 5.8	82.6 ± 9.5	107.4 ± 16.8	113.0 ± 1.0	111.0 ± 6.6	107.3 ± 13.1	111.7 ± 1.7	110.7 ± 6.8	59.2 ± 10.5	77.4 ± 10.4	71.6 ± 9.2	94.9 ± 7.2	94.9 ± 7.2
5	4.3 ± 0.4	9.9 ± 2.1	16.3 ± 5.4	71.3 ± 10.4	81.6 ± 3.9	83.9 ± 6.2	109.1 ± 10.7	113.2 ± 0.8	111.5 ± 3.4	108.8 ± 8.3	111.9 ± 0.9	111.2 ± 3.5	61.0 ± 8.5	79.1 ± 7.4	79.1 ± 6.5	92.3 ± 3.0	101.0 ± 3.2
6	-	10.2 ± 2.5	17.2 ± 5.6	82.5 ± 10.8	84.5 ± 4.5	84.6 ± 4.7	111.4 ± 1.8	111.7 ± 1.8	111.7 ± 1.8	111.7 ± 1.8	111.7 ± 1.9	111.4 ± 1.9	80.0 ± 1.8	80.0 ± 4.7	-	96.0 ± 1.7	96.0 ± 1.8
7	-	10.5 ± 1.7	17.9 ± 4.6	-	82.2 ± 1.9	85.0 ± 2.8	-	113.4 ± 0.6	111.8 ± 1.1	-	112.1 ± 0.4	111.5 ± 1.1	-	80.7 ± 4.1	80.5 ± 3.6	-	97.0 ± 2.5	101.9 ± 2.5
8	-	10.7 ± 1.6	18.4 ± 4.2	-	82.3 ± 1.3	85.2 ± 2.0	-	113.5 ± 0.6	111.9 ± 0.7	-	112.1 ± 0.3	111.6 ± 0.8	-	81.1 ± 3.2	80.9 ± 2.9	-	97.3 ± 1.9	102.1 ± 2.3
9	-	10.9 ± 1.6	18.9 ± 4.1	-	82.4 ± 1.5	85.4 ± 2.4	-	113.6 ± 0.6	111.9 ± 0.6	-	112.4 ± 0.3	111.6 ± 0.6	-	81.4 ± 2.4	81.2 ± 2.4	-	97.3 ± 1.5	102.1 ± 2.3
10	-	11.0 ± 1.3	19.3 ± 3.5	-	82.4 ± 0.7	85.4 ± 1.2	-	113.6 ± 0.5	112.0 ± 0.5	-	112.2 ± 0.3	111.7 ± 0.5	-	81.6 ± 2.1	81.4 ± 2.1	-	97.5 ± 1.2	102.5 ± 1.8
11	-	11.1 ± 1.3	19.6 ± 3.2	-	82.4 ± 0.5	85.5 ± 1.0	-	113.6 ± 0.4	112.0 ± 0.4	-	112.2 ± 0.3	111.7 ± 0.4	-	81.8 ± 1.9	81.5 ± 1.9	-	97.6 ± 1.0	102.7 ± 1.6
12	-	11.2 ± 1.3	19.8 ± 3.0	-	82.4 ± 0.6	85.6 ± 1.8	-	113.6 ± 0.6	112.0 ± 0.6	-	112.4 ± 0.4	111.7 ± 0.6	-	81.7 ± 0.9	81.7 ± 0.8	-	97.7 ± 1.5	102.5 ± 1.5
13	-	11.3 ± 1.1	20.1 ± 2.8	-	82.5 ± 0.3	85.6 ± 0.8	-	113.7 ± 0.4	112.0 ± 0.3	-	112.3 ± 0.2	111.8 ± 0.3	-	82.0 ± 1.5	81.8 ± 1.7	-	97.8 ± 0.7	102.9 ± 1.3
14	-	11.4 ± 1.0	20.2 ± 2.6	-	82.5 ± 0.2	85.7 ± 0.7	-	113.7 ± 0.3	112.1 ± 0.3	-	112.3 ± 0.2	111.8 ± 0.3	-	82.1 ± 1.4	81.9 ± 1.6	-	97.8 ± 0.7	103.0 ± 1.2
15	-	11.5 ± 0.9	20.5 ± 2.4	-	82.5 ± 0.1	85.7 ± 0.7	-	113.4 ± 0.6	112.1 ± 0.6	-	112.3 ± 0.6	111.8 ± 0.3	-	81.9 ± 0.9	82.0 ± 0.6	-	97.9 ± 0.5	103.0 ± 0.9
16	-	11.5 ± 0.9	20.6 ± 2.2	-	82.5 ± 0.1	85.8 ± 0.6	-	113.8 ± 0.3	112.1 ± 0.2	-	112.3 ± 0.2	111.8 ± 0.2	-	82.3 ± 1.2	82.1 ± 1.5	-	97.9 ± 0.5	103.1 ± 0.9
17	-	11.6 ± 0.9	20.7 ± 2.1	-	82.5 ± 0.1	85.8 ± 0.6	-	113.8 ± 0.3	112.1 ± 0.2	-	112.3 ± 0.2	111.9 ± 0.2	-	82.4 ± 1.2	82.2 ± 1.4	-	97.9 ± 0.5	103.1 ± 0.8
18	-	11.6 ± 0.9	20.8 ± 2.9	-	82.5 ± 0.1	85.8 ± 0.6	-	113.8 ± 0.4	112.1 ± 0.2	-	112.3 ± 0.2	111.9 ± 0.2	-	82.3 ± 1.4	82.3 ± 1.4	-	97.9 ± 0.5	103.0 ± 0.7
19	-	11.7 ± 0.8	20.9 ± 2.8	-	82.5 ± 0.1	85.9 ± 0.6	-	113.8 ± 0.2	112.1 ± 0.1	-	112.3 ± 0.2	111.9 ± 0.2	-	82.5 ± 1.0	82.3 ± 1.3	-	98.0 ± 0.4	103.2 ± 0.7
20	-	11.7 ± 0.7	21.0 ± 1.7	-	82.5 ± 0.1	85.9 ± 0.5	-	113.8 ± 0.2	112.1 ± 0.1	-	112.3 ± 0.2	111.9 ± 0.2	-	82.5 ± 1.0	82.4 ± 1.3	-	98.0 ± 0.4	103.2 ± 0.6